CN110517526A - A kind of valet parking method and system - Google Patents
A kind of valet parking method and system Download PDFInfo
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- CN110517526A CN110517526A CN201910750563.5A CN201910750563A CN110517526A CN 110517526 A CN110517526 A CN 110517526A CN 201910750563 A CN201910750563 A CN 201910750563A CN 110517526 A CN110517526 A CN 110517526A
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
Abstract
The present embodiments relate to a kind of valet parking method and systems, comprising: according to the area label detected, system obtains corresponding place configuration information to onboard system beyond the clouds；Judge whether parking space has parking stall management service according to parking stall management service configuration attribute information；When with when, valet parking mode is set as specified target carriage bit pattern；Receive the target parking stall that cloud system issues；Global path planning algorithm is called to obtain Global motion planning topological path according to target parking stall and label topological diagram；It is travelled according to Global motion planning topological path, until driving to target parking stall；When not having, valet parking mode is set as roaming and finds parking stall mode.The present invention merges onboard system, field end system and cloud system, and three end systems give full play to reapective features advantage, complements one another, and guarantees automobile valet parking system integrity, safety, stability and intelligence.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of valet parking method and systems.
Background technique
In recent years, difficult problem of stopping is increasingly significant, is on the one hand the continuous growth of automobile quantity, on the other hand stops
The limited amount of parking lot parking stall causes driver to need to take a significant amount of time the idle parking stall of searching in parking lot, thus causes
Vehicle congestion and scratch Frequent Accidents.Therefore a kind of parking system of full-automation is needed to solve problems.
Full-automatic parking system relies primarily on the self-contained sensor of vehicle, real-time using Multi-sensor Fusion algorithm
Detect the information such as environment, road sign, the signal wire of parking lot and parking stall, automatic path planning, by control vehicle throttle,
Braking and steering system, completion parking stall measure and the process that VEHICLES MUST PARK WITHIN THE MARKED BAY.
Currently, valet parking scheme is roughly divided into two kinds:
The first is held on the spot without any transformation based on vehicle end modification scheme, using vehicle end using laser radar or
Camera is positioned using SLAM mode, in conjunction with roaming mode or is issued parking stall mode and is completed valet parking；
Another kind be based on field end modification scheme, i.e. vehicle end without any transformation, end on the scene arrange a large amount of laser radars,
The positioning devices such as camera or UWB, position vehicle, and cooperation roaming or other modes complete valet parking.
Although above two scheme principle of parking is simple, the problem of being mentioned before not can solve.
The first scheme needs to carry out the acquisition of high-precision map to field end, and end when changing on the spot, map maintenance at
This is higher.If using laser radar sensor, higher cost, if relied on using camera sensing device ambient
Property is higher.
Second end modification scheme higher cost, volume production resistance is larger, and when field end changes, and needs to increase more
Sensor is supplemented.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of valet parking method and system, by vehicle-mounted system
System, field end system and cloud system are merged, and three end systems give full play to reapective features advantage, are complemented one another, and guarantee automobile
Valet parking system integrity, safety, stability and intelligence.
In view of this, in a first aspect, the embodiment of the invention provides a kind of valet parking method, it is described to include:
According to the area label detected, system obtains corresponding place configuration information to onboard system beyond the clouds；The field
It include parking stall management service configuration attribute information and label topological diagram in ground configuration information；
Judge whether parking space has parking stall management service according to the parking stall management service configuration attribute information；
When there is parking stall management to service in the parking lot, valet parking mode is set as specified target carriage bit pattern；
Receive the target parking stall that the cloud system issues；
Global path planning algorithm is called to obtain Global motion planning topology according to the target parking stall and the label topological diagram
Path；
It is travelled according to the Global motion planning topological path, until driving to the target parking stall；
When the parking lot, which does not have parking stall management, to be serviced, valet parking mode is set as roaming and finds parking stall mould
Formula；
Roaming type global path planning is carried out according to the label topological diagram, judges whether to detect available parking stall；
It when detecting available parking stall, parks, and the state of parking is uploaded into the cloud system.
Preferably, it is travelled described according to the Global motion planning topological path, until driving to the target parking stall
Later, the method also includes:
Judge whether the target parking stall can be used；
When the target parking stall can be used, park, and the state of parking is uploaded into the cloud system；
When the target parking stall is unavailable, then cloud system is updated, and receives the cloud system again and issue down
One target parking stall.
Preferably, valet parking mode is set as specified when there is parking stall management to service in the parking lot described
After target carriage bit pattern, the method also includes:
The cloud system is waited to issue target parking stall.
It is further preferred that after the waiting cloud system issues target parking stall, the method also includes:
When onboard system does not receive the target parking stall that cloud system issues within a preset time, by the valet parking mould
Formula is switched to roaming and finds parking stall mode.
Preferably, after judging whether to detect available parking stall, the method also includes:
When not detecting available parking stall, judge whether that the one cycle for completing parking lot is found；
When the one cycle for completing parking lot is found, uploads and find failure information to the cloud system；
When there is no the one cycle for completing parking lot to find, available parking stall is continually looked for.
Second aspect, the embodiment of the invention provides a kind of valet parking systems, and the system comprises onboard systems, field end
System and cloud system；
The onboard system, which is used to obtain corresponding place in the cloud system according to the area label detected, matches
Confidence breath；It include parking stall management service configuration attribute information and label topological diagram in the place configuration information；The vehicle-mounted system
System is for judging whether parking space has parking stall management service according to the parking stall management service configuration attribute information；When described
When there is parking stall management to service in parking lot, valet parking mode is set as specified target carriage bit pattern；
The cloud system is for issuing target parking stall；
The onboard system is also used to receive the target parking stall that the cloud system issues；According to the target parking stall and institute
Stating label topological diagram calls global path planning algorithm to obtain Global motion planning topological path；According to the Global motion planning topological path
It is travelled, until driving to the target parking stall；When the parking lot, which does not have parking stall management, to be serviced, by valet parking mould
Formula is set as roaming and finds parking stall mode；Roaming type global path planning is carried out according to the label topological diagram, judges whether to examine
Measure available parking stall；It when detecting available parking stall, parks, and the state of parking is uploaded into the cloud system；
The cloud system is also used to update the state of parking.
Preferably, the onboard system is also used to judge whether the target parking stall can be used；When the target parking stall is available
When, it parks, and the state of parking is uploaded into the cloud system；When the target parking stall is unavailable, then cloud is updated
System, and next target parking stall that the cloud system issues is received again.
Preferably, the onboard system is also used to that the cloud system is waited to issue target parking stall.
It is further preferred that when onboard system does not receive the target parking stall that cloud system issues within a preset time, it will
The valet parking pattern switching is that parking stall mode is found in roaming.
Preferably, after judging whether to detect available parking stall, the onboard system is also used to:
When not detecting available parking stall, judge whether that the one cycle for completing parking lot is found；When completion parking lot
One cycle when finding, upload and find failure information to the cloud system；When do not have complete parking lot one cycle seek
When looking for, available parking stall is continually looked for.
A kind of valet parking method and system provided in an embodiment of the present invention, by onboard system, field end system and cloud system
System is merged, and three ends give full play to reapective features advantage, is complemented one another, and guarantees automobile valet parking system integrity, safety
Property, stability and intelligence.
Detailed description of the invention
Fig. 1 is a kind of valet parking method flow diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of valet parking method flow schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of valet parking system provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
In valet parking method application onboard system provided in an embodiment of the present invention, field end system and cloud system three,
Onboard system, field end system and cloud system are merged, three end systems give full play to reapective features advantage, it complements one another,
Guarantee automobile valet parking (Automated Valet Parking, AVP) system integrity, safety, stability and intelligence
Property.
Valet parking method provided in an embodiment of the present invention is realized based on field end system, therefore first to field end system
Foundation is described.
Firstly, obtaining the cartographic information in parking lot, the cartographic information in parking lot specifically includes parking space information and section letter
Breath, the cartographic information in parking lot can be acquired by sensor, and the advantage of the present invention compared with the existing technology is to adopting
The accuracy of map of collection is of less demanding, does not require accurately figure information.
Secondly, according to parking stall position, section position and the section parameter in the cartographic information in parking lot and requiring to establish
Field end system；It include place configuration information in end system on the scene, specifically, the parking space information in information and section according to the map
Information configuration area label, tracking label, section label, crossing label, speed limit label, ramp label, one in the label of parking stall
Kind is a variety of, and each label is described in lower mask body:
Area label: area label is placed in intelligent vehicle AVP starting point.The label is used to indicate that current goal stops
Field number, can download the parking lot configuration information from server.
Tracking label: the label is the label placed when no fork in the road, and the label is without special function, only for path planning life
It is used at reference path.
Section label: section label is placed in each section branch, the vehicle passing detection label, available vehicle
It is currently located at which section branch, is similar to road name.The label information is used for global path planning.
Crossing label: multiple crossing labels are placed at each crossing.Crossing label is used to that vehicle to be guided to drive towards correct direction,
The label information is used for global path planning.
Speed limit label: each section configures speed limit label, and the label for intelligent vehicle, believe by the speed limit in the sections of road
Breath.
Ramp label: for indicating the gradient situation in each section.
Parking stall label: including two parts.A part is parking stall enhancing label, and for detecting parking stall, another part is vehicle
Bit number label, for determining the parking stall numbering.The label information is planned for parking path.
Finally, by parking stall label be arranged on corresponding parking stall, and by area label, tracking label, section label,
The corresponding position in parking lot is arranged in crossing label, speed limit label, ramp label.
It should be noted that the type of all labels can be extended to the other forms in addition to letter, number, such as two
Tie up code, number, monogram etc..Label setting rule can be used other similar rule and complete global path planning.Label is laid with
Also it is laid in the place in addition to ground, such as wall or ceiling.In a preferred embodiment, label of the invention is using glimmering
Photosensitiveness label reduces the dependence in the local positioning mode based on forms such as label, road signs to ambient light.
The present invention is positioned using tag system, and high cost field end improvement expenses or Ground Nuclear Magnetic Resonance is avoided to acquire expense.Mark
Label system is positioned as local positioning mode, do not depend on Global localization mode, be conducive in the field without GPS information such as underground parking
It promotes the use of on ground.
On the basis of understanding field end system, valet parking method is introduced below, Fig. 1 and Fig. 2 are the present invention
A kind of valet parking method flow diagram that embodiment provides includes the following steps: referring to figs. 1 and 2
Step 101, according to the area label detected, system obtains corresponding place with confidence to onboard system beyond the clouds
Breath.
After intelligent vehicle specifies stop parking outside parking lot, start AVP function, vehicle-mounted system using the end mobile phone terminal App
System detects whether to detect that the area label in the parking lot from cloud system, is downloaded the region and matched accordingly if detected
Set file.If not detecting area label, terminate, and reminds user related information in App.
It include parking stall management service configuration attribute information and label topological diagram, parking stall management service in the configuration information of place
Configuration attribute information includes having parking stall management Service Description that AVP mode can be used whether there is or not two kinds, is said without parking stall management service
It is bright to use AVP mode, then enter roaming and finds parking stall mode.
Step 102, judge whether parking space has parking stall management service according to parking stall management service configuration attribute information.
When there is parking stall management to service in parking lot, illustrates that the parking space can carry out AVP park mode, then execute step
Rapid 103.
When parking lot, which does not have parking stall management, to be serviced, illustrates that the parking space can carry out AVP park mode, then execute
Step 107.
Step 103, valet parking mode is set as specified target carriage bit pattern.
Specified target carriage bit pattern refers to that cloud system can issue target parking stall, and vehicle is carried out according to the target parking stall issued
Parking.
After valet parking mode to be set as to specified target carriage bit pattern, cloud system can inquire and according to entirely stopping
Parking lot the position of the status information of parking of parking stall, parking stall position and vehicle issue target parking stall, vehicle-mounted system to onboard system
System waits cloud system to issue target parking stall.
When in a preferred embodiment, in order to guarantee cloud system failure or bad network state, vehicle still can be just
It often parks, when onboard system does not receive the target parking stall that cloud system issues within a preset time, valet parking mode is cut
It is changed to roaming and finds parking stall mode, execute step 107, in this way the system failure or when bad network state beyond the clouds, vehicle is still
It can normally park, it should be noted that those skilled in the art, which can according to need, sets preset time, such as 30
Second or 1 minute.
Step 104, the target parking stall that cloud system issues is received.
Cloud system can be detected according to status information of the parking lot where vehicle to the parking position, be chosen empty
Not busy parking stall is that vehicle is handed down in target parking stall, and vehicle receives the target parking stall that cloud system issues.
Step 105, global path planning algorithm is called to obtain Global motion planning topology according to target parking stall and label topological diagram
Path.
Here Global motion planning topological path refers to Global motion planning topological path corresponding to specified target carriage bit pattern, vehicle
Loading system is according to current vehicle location, the position of target parking stall, and the label topological diagram based on parking space, with Global motion planning
Algorithm carries out that Global motion planning topological path is calculated, and Global motion planning topological path is made of multiple above-mentioned labels.
Step 106, it is travelled according to Global motion planning topological path, until driving to target parking stall.
In order to ensure whether parking stall is currently in available mode, after vehicle reaches target parking stall, before parking, also need
Judge whether target parking stall can be used, i.e., detects whether parking stall has been occupied by other vehicles by onboard sensor.
When sensor is not when the parking stall measure is to other vehicles, then target parking stall can with when, then park, and will
The state of parking uploads to cloud system, and the state of the parking stall is set as unavailable by cloud system.
When sensor is when the parking stall measure is to other vehicles, then target parking stall is unavailable, then updates cloud system, lays equal stress on
Next target parking stall that cloud system issues newly is received, after this return step 104.
After step 102, when parking lot, which does not have parking stall management, to be serviced, illustrate that the parking space can carry out AVP
Park mode thens follow the steps 107.
Step 107, valet parking mode is set as roaming and finds parking stall mode.
Roaming finds parking stall mode and refers to that the target parking stall that do not specify issues, and vehicle independently finds vacant parking stall.
Step 108, roaming type global path planning is carried out according to label topological diagram, judges whether to detect available parking stall.
Specifically, onboard system carries out roaming type global path planning according to label topological diagram, parking stall is found, and pass through
Onboard sensor judges whether to detect available parking stall.
When detecting available parking stall, step 109 is executed.
When not detecting available parking stall, step 110 is executed.
Step 109, it parks, and the state of parking is uploaded into cloud system.
When finding available parking stall under parking stall mode is found in roaming, park, and the state of parking is uploaded into cloud system
The state of the parking stall is set as unavailable by system, cloud system.
Step 110, judge whether that the one cycle for completing parking lot is found.
Specifically, judging whether vehicle completes seeking for all parking stall in parking lot according to the path of vehicle driving
It looks for.
When the one cycle for completing parking lot is found, when still not finding available parking stall, step 111 is executed, is uploaded
Failure information is found to cloud system.
When not having the one cycle for completing parking lot to find, step 112 is executed, continually looks for available parking stall.
A kind of valet parking method provided in an embodiment of the present invention carries out onboard system, field end system and cloud system
Fusion, three end systems give full play to reapective features advantage, complement one another, guarantee automobile valet parking system integrity, safety,
Stability and intelligence.
Correspondingly, the present invention also provides a kind of valet parking system, the system comprises onboard system, field end system and
Cloud system, it is specific as shown in Figure 3.
Onboard system is used for the area label that basis detects, and system obtains corresponding place configuration information beyond the clouds；
It include parking stall management service configuration attribute information and label topological diagram in ground configuration information；Onboard system is used for according to parking stall management
Service configuration attribute information judges whether parking space has parking stall management service；When there is parking stall management to service in parking lot,
Valet parking mode is set as specified target carriage bit pattern.
Cloud system is for issuing target parking stall.
Onboard system is also used to receive the target parking stall that cloud system issues；It is called according to target parking stall and label topological diagram
Global path planning algorithm obtains Global motion planning topological path；It is travelled according to Global motion planning topological path, until driving to
Target parking stall；When parking lot, which does not have parking stall management, to be serviced, valet parking mode is set as roaming and finds parking stall mode；Root
Roaming type global path planning is carried out according to label topological diagram, judges whether to detect available parking stall；When detecting available parking stall,
It parks, and the state of parking is uploaded into cloud system.
Cloud system is also used to update state of parking.
Preferably, onboard system is also used to judge whether target parking stall can be used；When target parking stall can be used, park,
And the state of parking is uploaded into cloud system；When target parking stall is unavailable, then cloud system is updated, and receives cloud system again
Next target parking stall that system issues.
Preferably, onboard system is also used to that cloud system is waited to issue target parking stall.
It is further preferred that when onboard system does not receive the target parking stall that cloud system issues within a preset time, it will
Valet parking pattern switching is that parking stall mode is found in roaming.
Preferably, after judging whether to detect available parking stall, onboard system is also used to:
When not detecting available parking stall, judge whether that the one cycle for completing parking lot is found；When completion parking lot
One cycle when finding, upload and find failure information to cloud system；When there is no the one cycle for completing parking lot to find,
Continually look for available parking stall.
Valet parking system provided in an embodiment of the present invention and preceding method correspond, and details are not described herein again.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RA valet parking method), interior
It deposits, read-only memory (RO valet parking method), electrically programmable RO valet parking method, electrically erasable RO valet parking
Any other shape well known in method, register, hard disk, moveable magnetic disc, CD-RO valet parking method or technical field
In the storage medium of formula.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of valet parking method, which is characterized in that the described method includes:
According to the area label detected, system obtains corresponding place configuration information to onboard system beyond the clouds；Match in the place
It include parking stall management service configuration attribute information and label topological diagram in confidence breath；
Judge whether parking space has parking stall management service according to the parking stall management service configuration attribute information；
When there is parking stall management to service in the parking lot, valet parking mode is set as specified target carriage bit pattern；
Receive the target parking stall that the cloud system issues；
Global path planning algorithm is called to obtain Global motion planning topological path according to the target parking stall and the label topological diagram；
It is travelled according to the Global motion planning topological path, until driving to the target parking stall；
When the parking lot, which does not have parking stall management, to be serviced, valet parking mode is set as roaming and finds parking stall mode；
Roaming type global path planning is carried out according to the label topological diagram, judges whether to detect available parking stall；
It when detecting available parking stall, parks, and the state of parking is uploaded into the cloud system.
2. valet parking method according to claim 1, which is characterized in that described according to Global motion planning topology road
Diameter is travelled, until drive to after the target parking stall, the method also includes:
Judge whether the target parking stall can be used；
When the target parking stall can be used, park, and the state of parking is uploaded into the cloud system；
When the target parking stall is unavailable, then cloud system is updated, and receives next mesh that the cloud system issues again
Mark parking stall.
3. valet parking method according to claim 1, which is characterized in that described when the parking lot is managed with parking stall
When reason service, after valet parking mode is set as specified target carriage bit pattern, the method also includes:
The cloud system is waited to issue target parking stall.
4. valet parking method according to claim 3, which is characterized in that wait the cloud system to issue mesh described
After marking parking stall, the method also includes:
When onboard system does not receive the target parking stall that cloud system issues within a preset time, the valet parking mode is cut
It is changed to roaming and finds parking stall mode.
5. valet parking method according to claim 1, which is characterized in that judge whether to detect available parking stall it
Afterwards, the method also includes:
When not detecting available parking stall, judge whether that the one cycle for completing parking lot is found；
When the one cycle for completing parking lot is found, uploads and find failure information to the cloud system；
When there is no the one cycle for completing parking lot to find, available parking stall is continually looked for.
6. a kind of valet parking system, which is characterized in that the system comprises onboard system, field end system and cloud systems；
The onboard system is used to obtain corresponding place with confidence in the cloud system according to the area label detected
Breath；It include parking stall management service configuration attribute information and label topological diagram in the place configuration information；The onboard system is used
In judging whether parking space has parking stall management service according to the parking stall management service configuration attribute information；When the parking
When field has parking stall management service, valet parking mode is set as specified target carriage bit pattern；
The cloud system is for issuing target parking stall；
The onboard system is also used to receive the target parking stall that the cloud system issues；According to the target parking stall and the mark
Label topological diagram calls global path planning algorithm to obtain Global motion planning topological path；It is carried out according to the Global motion planning topological path
Traveling, until driving to the target parking stall；When the parking lot, which does not have parking stall management, to be serviced, valet parking mode is set
It is set to roaming and finds parking stall mode；Roaming type global path planning is carried out according to the label topological diagram, judges whether to detect
Parking stall can be used；It when detecting available parking stall, parks, and the state of parking is uploaded into the cloud system；
The cloud system is also used to update the state of parking.
7. valet parking system according to claim 6, which is characterized in that the onboard system is also used to judge the mesh
Whether mark parking stall can be used；When the target parking stall can be used, park, and the state of parking is uploaded into the cloud system；
When the target parking stall is unavailable, then cloud system is updated, and receives next target carriage that the cloud system issues again
Position.
8. valet parking system according to claim 6, which is characterized in that the onboard system is also used to wait the cloud
End system issues target parking stall.
9. valet parking system according to claim 8, which is characterized in that when onboard system does not receive within a preset time
It is that parking stall mode is found in roaming by the valet parking pattern switching when target parking stall that cloud system issues.
10. valet parking system according to claim 6, which is characterized in that judge whether to detect available parking stall it
Afterwards, the onboard system is also used to:
When not detecting available parking stall, judge whether that the one cycle for completing parking lot is found；When the one of completion parking lot
When secondary circulation is found, uploads and find failure information to the cloud system；When there is no the one cycle for completing parking lot to find,
Continually look for available parking stall.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111976718A (en) * | 2020-07-13 | 2020-11-24 | 浙江大华汽车技术有限公司 | Automatic parking control method and system |
| CN112908021A (en) * | 2021-01-15 | 2021-06-04 | 重庆长安汽车股份有限公司 | Autonomous parking method and system for passenger |
| CN112977431A (en) * | 2021-03-22 | 2021-06-18 | 英博超算(南京)科技有限公司 | Safety monitoring system for passenger-riding parking in operation area |
| CN114333395A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Parking method and system based on label system |
| CN114333393A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Dispatching method and dispatching system for passenger-riding parking |
| CN115331466A (en) * | 2022-10-11 | 2022-11-11 | 禾多科技（北京）有限公司 | Parking route information generation method, apparatus, device, medium, and program product |
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